Analysis of Pure-pursuit Algorithm Parameters for Nonholonomic Mobile Robot Navigation in Unstructured and Confined Space-Reference-Cited by-同舟云学术

Analysis of Pure-pursuit Algorithm Parameters for Nonholonomic Mobile Robot Navigation in Unstructured and Confined Space

Published:2023-11-06 Issue:1 Volume:32 Page:99-111
ISSN:2231-8526
Container-title:Pertanika Journal of Science and Technology
language:en
Short-container-title:JST

Author:

Saleh Izzati,Azmin Azwati,Yunus Azan,Rahiman Wan

Abstract

This research analyses Pure-pursuit algorithm parameters for nonholonomic mobile robot navigation in unstructured and constrained space. The simulation-based experiment is limited to the mobile robot arrangement. The Look Ahead Distance parameter is adjusted so the mobile robot can navigate the predefined map closely following the waypoints. The optimal Look Ahead Distance value is combined with the VFH+ algorithm for obstacle avoidance. The method is enhanced by adding the λ weight so the robot returns to its waypoints after avoiding an obstacle. The investigation reveals that λ influences the mobile robot’s capacity to return to its predetermined waypoints after avoiding an obstacle. Based on the simulation experiment, the optimal LAD value is 0.2m, and the optimal λ value is 0.8.

Publisher

Universiti Putra Malaysia

Subject

General Earth and Planetary Sciences,General Environmental Science

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